156B Week 4

Overview of Status of Analysis, Design, Fabrication, Tests, etc.

We completed fabricating the base and one of the fingers has been stress tested. Currently, it is possible to maneuver one of the arms to move anywhere in the play area given that the hand could reach there. We are also in the progress of printing all the 3D printing parts needed for the other arms. On the software side, we managed to collaborate with Ed and Matthew in connecting the Matlab codes to move a single servo motor. Moving forward, we will try to move each stepper after all the parts have been purchased.

Accomplishments from Previous Week

• Connected the entire arm to the Base.

• Fabricated the entire Base Pieces.

• Printed 10% of the rest of the arm pieces.

• Purchased all of the parts necessary to create the Trifinger Robot.

• Stress tested the single arm to move to different positions around the play area.

• Connected Arduino to Matlab and connected one servo motor to Matlab.

• The project paper has been checked and evaluated by the Writing Center at UCSD.

Goals for This Week (list names after each item). Use specific and measurable objectives.

• Finish 3D printing all the 3 arms. (Sebastian and Joseph)

• Combined all the Arms to the base. (Sebastian)

• Use Matlab to control a single stepper motor. (Jonathan)

• Fix the Inverse Kinematic Code in Matlab. (Jonathan)

• Create a MATLAB GUI Design for easier control of the Tri-finger robot. (Jonathan)

• Finish the required Lab Report :

  • Applicable Standards (Dustin & Joseph)

  • Theoretical Calculations for the servo and stepper (Dustin & Joseph)

Instructor Comments from Last Meeting and Actions Taken to Address these Comments (indicate the date of comments and if via email or in-person)

• 01/19/21 - Look into Series Elastic Actuator to switch the timing belts in case there is too much slippage. - No serious slippage occurring during the stress test.

• 01/21/21 - Create a Matlab Designer for ease of use in controlling the Trifinger - Jonathan is looking into it

Risks and Areas of Concern:

• We have not received any comments for the initial draft of our project paper.

• Comments about the type of Applicable Standards we need to write for our Trifinger.

Budget

• Pololu (Stepper, Driver, Servo) - $326.20

• Amazon (Gears, Timing Belt, Bearings, Wires) -$187.51

Progress on Report and Webpage

• • Report

    • Impact on Society

    • Professional Responsibility

    • UCSD Writing Hub Draft checked

  • Webpage

    • Edited report to the webpage